动态非完整控制系统的指数镇定及其在一类车式机器人中的应用

董文杰, 霍伟

董文杰, 霍伟. 动态非完整控制系统的指数镇定及其在一类车式机器人中的应用[J]. 机器人, 1998, 20(2): 88-92.
引用本文: 董文杰, 霍伟. 动态非完整控制系统的指数镇定及其在一类车式机器人中的应用[J]. 机器人, 1998, 20(2): 88-92.
DONG Wenjie, HUO Wei. EXPONENTIAL STABILIZATION OF THE DYNAMIC NONHOLONOMIC CONTROL SYSTEMS AND ITS APPLICATION TO WHEELED MOBILE ROBOT[J]. ROBOT, 1998, 20(2): 88-92.
Citation: DONG Wenjie, HUO Wei. EXPONENTIAL STABILIZATION OF THE DYNAMIC NONHOLONOMIC CONTROL SYSTEMS AND ITS APPLICATION TO WHEELED MOBILE ROBOT[J]. ROBOT, 1998, 20(2): 88-92.

动态非完整控制系统的指数镇定及其在一类车式机器人中的应用

详细信息
    作者简介:

    董文杰:男,27岁,博士.研究领域:机器人动力学与控制,鲁棒控制.
    霍 伟:男,45岁,教授,博士生导师.研究领域:机器人动力学与控制,智能控制.

EXPONENTIAL STABILIZATION OF THE DYNAMIC NONHOLONOMIC CONTROL SYSTEMS AND ITS APPLICATION TO WHEELED MOBILE ROBOT

  • 摘要: 本文研究了用动力学方程表示的双输入链式非完整系统的镇定问题,设计出了非连续的指数镇定律,并将其用于一类移动机器人的位姿镇定中.仿真结果表明了该控制律的有效性.
    Abstract: This paper studies the exponential stabilization of the dynamic nonholonomic chained systems with two inputs. A discontinuous exponentially stabilizing feedback law is given. An application to the stabilization of a nonholonomic wheeled mobile robot is described.Simmulation results show that the approach is effective.
  • 1 Murray R M.Nonholonomic Motion Planning:Streering Using Sinusoids.IEEE Trans Auto-matic Contr.1993,38(5):700~716
    2 Brocket R W.A symptotic Stability and Feedback Stabilization.In Differential Geometric Control Theory,Brocket R.W.Eds,1983
    3 Astolfi A.Exponential Stabilization of a Car-like Vehicle.IEEE International Confon Robotics and Automation,1995:1391~1396
    4 Campion G,Structural Properties and Classification of Kinematic and Dynamic Models of Wheel ed Mobile Robots.IEEE Trans.Robotics and Automation,1996,12(1):47~62
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出版历程
  • 收稿日期:  1997-01-13

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